Shingo Ito

Bio: Shingo Ito is an academic researcher from Vienna University of Technology. The author has contributed to research in topics: Actuator & Voice coil. The author has an hindex of 11, co-authored 36 publications receiving 355 citations. Previous affiliations of Shingo Ito include University of Toronto.

Long-Range Fast Nanopositioner Using Nonlinearities of Hybrid Reluctance Actuator for Energy Efficiency

Abstract: While nanopositioners often use flexures for high quality motion avoiding nonlinearities, the achievable motion range and energy efficiency are limited, due to the force required for positioning against the flexures. To overcome the problem, this paper proposes a flexure-guided nanopositioner with a nonlinear hybrid reluctance actuator for a large range and energy efficiency. The actuator has nonlinear negative stiffness that partially cancels the flexures’ stiffness. Consequently, the nonlinearities reduce the required current by up to 67%. To compensate them for high-precision motion in the entire range of 2 mm, a feedback controller is designed, achieving a closed-loop bandwidth of 640 Hz and positioning resolution of 2.48 nm(rms). The mechatronic system is designed such that the stiffness nonlinearity has no influence on the closed-loop stability and bandwidth. Additionally for accurate periodic scanning motion, modeling-free inversion-based iterative control is combined to decrease the tracking error by a factor of 396 at most. The achieved error is 10 nm(rms) for a 1 Hz triangular motion of 1.6 mm range and for a 100 Hz triangular motion of 10 $\mu$ m range. The results demonstrate that the proposed nanopositioner can play a role of both long-stroke and high-speed scanners with the improved power consumption.

Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot

Abstract: Mobile robots have been developed for surveillance, reconnaissance and inspection as well as for operation in hazardous environments. Some are intended to explore not only natural terrains but also artificial environments, including stairs. This paper explores algorithms to autonomously climb stairs. The algorithms were derived and implemented for a specific mobile robot with the ability to traverse such obstacles by changing its tracks configuration. Furthermore, algorithms have been developed for conditions under which the mobile robot halts its motion during the climbing process when at risk of flipping over or falling down. The technical problems related to the implementation of some of these functions have been identified and analyzed, and their solutions validated and tested. The algorithms and solutions were validated experimentally, illustrating the effectiveness of autonomous climbing of stairs.

Comparison and Classification of High-Precision Actuators Based on Stiffness Influencing Vibration Isolation

Abstract: Positioning performance of high-precision systems is influenced by vibrations transmitting from floors and types of the precision actuators. To construct a compact actuator with high vibration isolation for these systems, this paper investigates and categorizes precision actuators based on their stiffness for providing design rules. The effectiveness of the analysis and the design rules is confirmed by experiments comparing two types of compact precision actuators: piezoelectric and electromagnetic (Lorentz or voice coil) actuators. The positioning system with these actuators is validated experimentally by applying step-like disturbances of approximately 160 nm to the base of the actuators. While the position error of the piezo-actuated system swings by about $\pm$ 200 nm, the Lorentz-actuated system that satisfies the design rules is able to suppress the error within a range of $\pm$ 10 nm.

Art of electronics

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